JP6515844B2 - Simulation apparatus, simulation method, control program, and recording medium - Google Patents

Description

  The present invention relates to a simulation apparatus or the like capable of simulating the response of a servo driver that controls a motor that drives a load device.

  In a servo mechanism, in order to appropriately control a motor for driving a load device, it is general to adjust control parameters (position gain, velocity gain, filter cutoff frequency, etc.) of a servo driver that controls the motor. It is

  Conventionally, there are methods of adjusting control parameters by driving a motor and actually operating a load device. That is, a certain control parameter is set to the servo driver to actually drive the motor, and the response of the load device at that time is measured. Here, when the response state of the load device does not satisfy the desired requirement, the control parameter is changed to drive the motor again, and the response of the load device at that time is measured. As described above, there is one in which the control parameter is set by changing the control parameter and driving the motor repeatedly to operate the load device (for example, Patent Document 1).

  In addition to the method of actually operating the apparatus and setting the control parameters, there are methods of setting the control parameters by simulation. That is, using the physical model of the servo driver and the load device, control parameters are set and simulation is repeated. Then, there is one in which control parameters are set depending on whether a response state obtained as a simulation result satisfies a desired requirement (for example, Patent Document 2).

  Among the control parameters, Patent Document 3 discloses a method of adjusting an output filter. More specifically, Patent Document 3 discloses a method of displaying the sum of the amplitude characteristic of the frequency response of the output filter and the amplitude characteristic of the frequency response of the load device, and adjusting the control parameter of the output filter.

JP, 2009-122779, A (June 4, 2009 publication) Japanese Patent Application Laid-Open No. 2006-340480 (disclosed on December 14, 2006) International Publication No. 2008/065836 (released on June 5, 2008)

  However, in the prior art disclosed in Patent Document 3, the displayed characteristic is only the sum of the amplitude characteristics of the frequency response of each of the load device and the output filter. Therefore, although control parameters of the output filter can be adjusted, control parameters of the speed controller and the position controller can not be adjusted. This is because the response characteristics of speed control and position control can not be confirmed.

  In other words, in the prior art disclosed in Patent Document 3, it is only the frequency response (that is, only the Bode diagram that is displayed) that can be simulated, and simulating the time response (position, velocity) I can not do it.

  The present invention has been made in view of the above-mentioned problems, and an object thereof is to realize a simulation apparatus or the like which can easily present a frequency response and a time response to a user.

  In order to solve the above problems, a simulation apparatus according to the present invention is a simulation apparatus that simulates a mechanical system having a control target including a motor, and a motor control apparatus that controls the motor, the mechanical system comprising Calculating a frequency response function including characteristics of the controlled object based on a relationship between a first command value for driving the motor and a measured value of the response of the mechanical system driven by the first command value A response function calculation unit, a simulation system having a control block structure corresponding to the mechanical system, a parameter setting unit for setting control parameters for changing characteristics of the simulation system, the frequency response function, or the frequency response function The frequency transfer function calculated based on the above and the control parameter is Based on the frequency transfer function setting unit set as a function, a second command value generation unit generating a second command value for simulation, and the second command value and the simulation frequency transfer function, the second A time response output unit that executes a time response simulation of the mechanical system to a command value, a frequency response output unit that outputs a frequency response characteristic of the mechanical system based on the frequency transfer function for simulation, and the time response simulation And a display control unit configured to display the result and the frequency response characteristic simultaneously or selectively on a display unit.

  According to the above configuration, the simulation result of the time response characteristic and the frequency response characteristic are simultaneously displayed. Thus, the response characteristic of the control object can be easily recognized by the user from the simulation result of the time response characteristic, and the user can easily recognize the adjustment degree of the control parameter from the frequency response characteristic.

  In addition, since simulation is performed using not only the characteristics of the servo driver but also the frequency transfer function, which is the characteristic of the control object, it is possible to execute a simulation focusing on the individuality of the control object, and obtain more accurate simulation results. be able to.

  In the simulation apparatus according to the present invention, the time response output unit may output, as a result of the time response simulation, a result of time response simulation of at least one of the position, speed, and torque of the mechanical system. Good.

  According to the above configuration, it is possible to output at least one of the position, speed, and torque of the mechanical system as a result of the time response simulation, and allow the user to recognize. The position, speed, and torque of the mechanical system are, for example, the position, speed, and torque of a motor included in the mechanical system.

  In the simulation apparatus according to the present invention, the frequency response output unit may output, as the frequency response characteristic, at least one of a gain response characteristic and a phase response characteristic with respect to the second command value.

  According to the above configuration, it is possible to output at least one of the gain response characteristic to the second command value and the phase response characteristic as the frequency response characteristic, and allow the user to recognize.

  In the simulation apparatus according to the present invention, the mechanical system includes, as a control block structure, a position feedback system including a position controller, and a velocity feedback system including a velocity controller disposed downstream of the position controller. The simulation system has a model position feedback system corresponding to the position feedback system and a model velocity feedback system corresponding to the velocity feedback system, and the frequency response output unit is configured as the frequency response characteristic. And at least any one of frequency response characteristics of velocity open loop characteristics, velocity closed loop characteristics, position open loop characteristics, and position closed loop characteristics.

  According to the above configuration, it is possible to simulate the frequency response characteristic of at least one of the velocity open loop characteristic, the velocity closed loop characteristic, the position open loop characteristic, and the position closed loop characteristic.

  In the simulation apparatus according to the present invention, the first command value is a torque command value indicating torque, and the frequency response function calculation unit is configured to calculate the torque command value and the response of the mechanical system driven by the torque command value. The frequency response function may be calculated based on the relationship with the velocity measurement value.

  According to the above configuration, it is possible to obtain the frequency response function which is the characteristic of the mechanical system when the motor is actually driven, using the measurement torque command.

  In the simulation apparatus according to the present invention, the first command value is a speed command value indicating a speed, and the frequency response function calculation unit is configured to calculate the speed command value and a response of the mechanical system driven by the speed command value. The frequency response function may be calculated based on the relationship with the velocity measurement value.

  According to the above configuration, it is possible to obtain the frequency response function which is the characteristic of the mechanical system when the motor is actually driven by using the measurement speed command.

  In the simulation apparatus according to the present invention, the first command value is a position command value indicating a position, and the frequency response function calculation unit is configured to calculate the response of the mechanical system driven by the position command value and the position command value. The frequency response function may be calculated based on the relationship with the position measurement value.

  According to the above configuration, it is possible to obtain the frequency response function which is the characteristic of the mechanical system when the motor is actually driven, using the measurement position command.

  The simulation apparatus according to the present invention includes an impulse response calculation unit that calculates an impulse response by performing inverse Fourier transform on the simulation frequency transfer function, and the time response output unit includes the second command value and the impulse response. And may execute the time response simulation.

  According to the above configuration, as in the case of preparing a model to be controlled as a physical model and using it, the controlled object that can be simulated is not limited to the shape or order of the model. Therefore, while being able to expand the object which can be simulated, it can prevent that the precision of a simulation result falls because an actual control object shifts | deviates from the form of a physical model. Furthermore, since the response result can be confirmed without requiring the knowledge on the control parameters of the servo driver, the user is not required to have an excessive knowledge.

  In order to solve the above problem, a simulation method according to the present invention is a simulation method for simulating a mechanical system having a control target including a motor and a motor control device for controlling the motor, the mechanical system comprising Calculating a frequency response function including characteristics of the controlled object based on a relationship between a first command value for driving the motor and a measured value of the response of the mechanical system driven by the first command value A response function calculating step, a parameter setting step of setting a control parameter for changing characteristics of a simulation system having a control block structure corresponding to the mechanical system, the frequency response function, or the frequency response function and the control parameter The frequency transfer function calculated based on the above is set as the simulation frequency transfer function. Frequency transfer function setting step, a second command value generation step for generating a second command value for simulation, and the second command value based on the second command value and the simulation frequency transfer function. A time response output step of executing time response simulation of the mechanical system, a frequency response output step of outputting frequency response characteristics of the mechanical system using the frequency transfer function for simulation, a result of the time response simulation, A display control step of causing the display unit to display the frequency response characteristic simultaneously or selectively.

  According to the above-described method, the same effects as the above-described effects can be obtained.

  The simulation apparatus according to each aspect of the present invention may be realized by a computer. In this case, the simulation apparatus is realized by the computer by operating the computer as each unit (software element) included in the simulation apparatus. The control program of the simulation apparatus and the computer readable recording medium recording the same also fall within the scope of the present invention.

  According to the present invention, the simulation result of the time response characteristic and the frequency response characteristic are simultaneously displayed. As a result, the response characteristic of the control object can be easily recognized by the user from the simulation result of the time response characteristic, and the adjustment degree of the control parameter can be easily recognized by the user from the frequency response characteristic. Play.

  In addition, since simulation is performed using not only the characteristics of the servo driver but also the frequency transfer function, which is the characteristic of the control object, it is possible to execute a simulation focusing on the individuality of the control object, and obtain more accurate simulation results. The effect of being able to

It is a figure showing an outline of a control system concerning this embodiment. It is a functional block diagram which shows the internal structure of a control system. It is a block diagram which shows the control structure of a servo driver. It is a flowchart which shows the flow of the adjustment method of a control parameter. FIG. 6 is a control block diagram when calculating a frequency response function based on a measurement torque command. It is a control block diagram when calculating a frequency response function by speed command for measurement. FIG. 6 is a control block diagram when calculating a frequency response function by a measurement position command. It is a block diagram which shows the structure of a simulation system, (a) is a figure which shows the basic structure of a simulation system, (b) shows the case where all the control blocks of a simulation system are substituted by one frequency transfer function for simulation. It is a figure, (c) is a figure showing the case where a model speed controller of a simulation system, a model current controller, and a machine model part is replaced by one frequency transfer function for simulation, and (d) is a model of a simulation system. It is a figure which shows the case where a current controller and a machine model part are substituted by one frequency transfer function for simulation. (A), (b) is a figure which shows the example of a display of a frequency response function. It is a figure which shows time response (position or speed).

Embodiment 1
[Overview of Control System 100]
Hereinafter, Embodiment 1 of the present invention will be described based on FIGS. 1 to 9. First, a control system 100 according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an overview of a control system 100. As shown in FIG. The control system 100 controls the operation of the load device 4 using a servo mechanism, and as shown in FIG. 1, a setting device (simulation device) 1, a servo driver (motor control device) 2, a motor 3 and The load device 4 is included. Further, the motor 3 and the load device 4 are called a control target 6, and the control target 6 and the servo driver 2 are called a mechanical system 7.

  The setting device 1 is a device for setting and adjusting control parameters of the servo driver 2 and includes adjustment software. Specifically, the setting device 1 uses control software to adjust control parameters of the servo driver 2 (for example, position gain, speed gain, filter cutoff frequency, etc.) so that the response state of the servo driver 2 becomes optimal. Adjust etc). The adjustment software has a function of measuring the response state of the servo driver 2 and a function of simulating the response of the servo driver 2. The setting device 1 is realized by, for example, a personal computer, and the computer functions as the setting device 1 by executing a program (adjustment software) stored in the personal computer.

  A user (a user of the control system 100, a setter, etc.) 5 uses the setting device 1 to set and adjust control parameters of the servo driver 2. That is, the user 5 sets control parameters of the servo driver 2 using adjustment software operating on the setting device 1, and adjusts so that the response state of the servo driver 2 becomes optimal. In other words, the response state is confirmed using the actual measurement result and the simulation result, and the control parameter is adjusted.

  The servo driver 2 stores the control parameter set and adjusted by the setting device 1 and drives the motor 3 according to the control parameter to operate the load device 4. The servo driver 2 is communicably connected to the setting device 1 and the motor 3 in a wired or wireless manner. For example, the servo driver 2 is connected to the setting device 1 by a USB (Universal Serial Bus) cable. Further, the servo driver 2 and the motor 3 are connected, for example, by a dedicated cable.

  Then, in the present embodiment, the measurement object is actually measured to obtain a frequency response function, the frequency transfer function obtained from the frequency response function and the control parameter is inverse Fourier transformed to calculate an impulse response, and the impulse response is calculated. Use it to run a simulation.

  Therefore, as in the case of preparing a model to be controlled as a physical model and using it, the controlled object that can be simulated is not limited to the shape or order of the model. Therefore, while being able to expand the object which can be simulated, it can prevent that the precision of a simulation result falls because an actual control object shifts | deviates from the form of a physical model. Furthermore, since it is possible to confirm the response result without requiring the knowledge on the control parameters of the servo driver, it is not necessary to require the user to have an excessive knowledge.

[Details of setting device 1 and servo driver 2]
Next, configurations of the setting device 1 and the servo driver 2 will be described with reference to FIGS. FIG. 2 is a block diagram showing the main configuration of the setting device 1 and the servo driver 2 included in the control system 100. As shown in FIG. FIG. 3 is a view showing a control structure of the servo driver 2.

  As shown in FIG. 2, the setting device 1 includes a control unit 10, an operation receiving unit 11, and a display unit 12.

  The operation receiving unit 11 receives an operation on the setting device 1 and notifies the control unit 10 of the content. The operation reception unit 11 may be configured by hardware such as a keyboard and a mouse, or may be configured by a touch panel together with the display unit 12 described later.

  In addition, the operation receiving unit 11 may receive an input value for executing a simulation to be described later. Further, instead of the input value itself, an instruction may be received, and the simulation unit 23 may generate an input value (second command value) from the received content. In this case, the simulation unit 23 is a second command value generation unit.

  The display unit 12 displays a setting screen for setting control parameters of the servo driver 2, a simulation result, and the like. The display unit 12 is not an essential component of the setting device 1 and may be outside the setting device 1. Further, the display unit 12 may be configured as a touch panel including the function of the operation reception unit 11 as described above.

  The control unit 10 executes various processes in the setting apparatus 1 including simulation of the response of the mechanical system 7 including the servo driver 2, setting of parameters of the servo driver 2, and the like. It includes a unit 22, a simulation unit 23, an operation instruction unit 24, an acquisition unit 25, and a display control unit 26.

  The parameter setting unit 21 sets, in the servo driver 2, the control parameter of the servo driver 2 accepted through the operation accepting unit 11. Further, at the time of simulation execution, the control parameter of the servo driver 2 accepted from the operation accepting unit 11 is notified to the simulation unit 23.

  The frequency characteristic calculation unit 22 calculates a frequency response function as the characteristic of the control target 6 including the load device 4, which is used when the simulation unit 23 described later executes the simulation of the mechanical system 7 including the servo driver 2. Then, the calculation unit 23 is notified of the calculated result. Details of a method of calculating the frequency response function of the control target 6 will be described later.

  The simulation unit 23 simulates the response (time response, position response) of the mechanical system 7 including the servo driver 2 using the frequency response function of the control target 6 including the load device 4 calculated by the frequency characteristic calculation unit 22. The result is displayed on the display unit 12. Details of the simulation by the simulation unit 23 will be described later.

  Operation instruction unit 24 transmits an operation instruction to servo driver 2 in accordance with an instruction received from the user via operation accepting unit 11. Specifically, the position command (command specifying the time and position) received through the operation receiving unit 11 is notified to the servo driver 2 so that the control object comes to the specified position at the specified time in the load device 4 Instruct

  The acquisition unit 25 measures the result when the load device 4 is actually operated, and notifies the frequency characteristic calculation unit 22 or the display unit 12 of the result. More specifically, when the load device 4 is operated by the instruction of the frequency characteristic calculation unit 22, the acquisition unit 25 notifies the frequency characteristic calculation unit 22 of the measurement result. When the load device 4 is operated by the instruction of the operation instruction unit 24, the result is notified to the display control unit 26 and displayed on the display unit 12.

  The display control unit 26 receives the simulation result (frequency response and time response) by the simulation unit 23 from the simulation unit 23 and displays the result on the display unit 12. Further, as described above, the operation result of the load device is received from the acquisition unit 25 and displayed on the display unit 12. The details of the display control unit 26 will be described later.

  Further, as shown in FIG. 2, the servo driver 2 includes a position controller 31, a speed controller 32, and a current controller 33. The contents of these processes will be described with reference to FIG. FIG. 3 is a view showing a control structure of the servo driver 2.

  As shown in FIG. 3, the position controller 31 performs, for example, proportional control (P control). Specifically, the position velocity which is the deviation between the position command notified from the operation instructing unit 24 and the detected position is multiplied by the position proportional gain to output the commanded velocity. The position controller 31 has the position proportional gain Kpp as a control parameter in advance by being set by the parameter setting unit 21.

  The speed controller 32 performs, for example, proportional control (P control). Specifically, the command torque is output by multiplying the speed proportional gain to the speed deviation which is the deviation between the speed command output from the position controller 31 and the detected speed. The speed controller 32 has the speed proportional gain Kvp as a control parameter in advance by being set by the parameter setting unit 21. The speed controller 32 may perform PI control instead of proportional control (P control). In this case, the speed controller 32 has a speed proportional gain Kvp and a speed integral gain Kvi as control parameters.

  The current controller 33 outputs a current command based on the torque command output from the speed controller 32, and controls the motor 3 to operate the load device 4. The current controller 33 includes a torque command filter (first-order low pass filter) and a plurality of notch filters, and has a cutoff frequency of the torque command filter and a frequency of the notch filter as control parameters.

  In addition, a system that includes the speed controller 32, the current controller 33, and the control target 6 and includes feedback of the detected speed to the speed controller 32 is called a speed feedback system, and is added to the speed feedback system. A system that includes the feedback of the detected position to the position controller 31 is called a position feedback system. Further, when it is not necessary to distinguish between the velocity feedback system and the position feedback system, they are simply referred to as a feedback system.

[Details of Process in Frequency Characteristic Calculation Unit 22]
Details of the processing in the frequency characteristic calculation unit 22 will be described with reference to FIGS. FIG. 5 is a control block diagram when the frequency response function is calculated by the measurement torque command. FIG. 6 is a control block diagram when the frequency response function is calculated by the measurement speed command. FIG. 7 is a control block diagram when the frequency response function is calculated by the measurement position command.

  As shown in FIG. 2, the frequency characteristic calculating unit 22 includes a measuring torque command generating unit 51, a measuring speed command generating unit 52, a frequency response function calculating unit 53, and a measuring position command generating unit 54. The measurement torque command generation unit 51, the measurement speed command generation unit 52, and the measurement position command generation unit 54 may be configured to include any one or two of them, or all of them. It does not have to be.

  Measurement torque command generation unit 51 generates a measurement torque command (first command value, torque command value) for driving motor 3 when obtaining the frequency response function of control target 6 including load device 4 .

  The measurement speed command generation unit 52 generates a measurement speed command (first command value, speed command value) for driving the motor 3 when obtaining the frequency transfer function P of the control target 6 including the load device 4 Do.

  Measurement position command generation unit 54 generates a measurement position command (first command value, position command value) for driving motor 3 when obtaining frequency transfer function P of controlled object 6 including load device 4 Do.

  In the present embodiment, as a function of setting device 1 generating a command value for measuring a frequency response, measurement torque command generation unit 51, measurement speed command generation unit 52, measurement position command generation unit A configuration having 54 is described. However, the method of generating the command value for measuring the frequency response is not limited to this. For example, the measurement torque command generation unit 51, the measurement speed command generation unit 52, and the measurement position command generation unit 54 each set conditions for generating a command value, and the set conditions The servo driver 2 may generate a command value by notifying the servo driver 2. As a condition for generating a command value, for example, when using a swept sine wave as a command value, an initial amplitude of the command value and an amplification factor of the amplitude can be mentioned. Further, a value that determines the maximum value of the frequency of the command value can be set as a condition. As a value which determines the maximum value of the frequency of command value, the sampling period of measurement is mentioned, for example. The generation conditions of the command value are set by the user via the operation receiving unit 11.

  The frequency response function calculation unit 53 generates the measurement torque command, the measurement speed command, or the measurement position generated by the measurement torque command generation unit 51, the measurement speed command generation unit 52, or the measurement position command generation unit 54. The frequency response function which is the characteristic of the controlled object 6 including the load device 4 is calculated using the command. The detailed calculation method will be described below.

[Calculation method-1]
First, calculation method-1 will be described with reference to FIG. As shown in FIG. 5, in the calculation method 1, first, the measurement torque command generation unit 51 generates a measurement torque command including many frequency components, and the current controller 33 and the frequency response function calculation unit 53 Notice. Next, the current controller 33 drives the motor 3 to operate the load device 4 based on the notified measurement torque command.

Then, the frequency response function calculation unit 53 measures the response torque (the measured velocity (measured velocity, measured value) in the control target 6 including the measured torque command notified from the measured torque command generation unit 51 and the measured load device 4. And the frequency response function of the control target 6 including the load device 4 is calculated. That is, the measurement target P _measure of the frequency response function is a block including the current controller 33 and the control target 6.

  Specifically, the frequency characteristic calculation unit 22 calculates the frequency response function as follows. First, as shown below, frequency analysis (Fourier transform) is performed on the measurement torque command and the measured response speed data (sampling interval Δt, time series array of data points N) to obtain a ratio. The response function P (complex number array) is calculated.

Tref [N]: Complex number array obtained by Fourier transforming torque command for measurement Ωact [N]: Complex number array obtained by Fourier transforming response speed P [N] = Ωact [N] / Tref [N]
f [N] = 0, 1 / (Δt · N), 2 / (Δt · N), 3 / (Δt · N),..., (N−1) / (Δt · N) f: More than frequency The frequency response function P of the measurement object P _measure that includes the current controller 33 and the control object 6 is obtained.

[Calculation method-2]
Next, calculation method-2 will be described with reference to FIG. As shown in FIG. 6, in calculation method-2, first, the measurement speed command generation unit 52 generates a measurement speed command including many frequency components, and the speed controller 32 and the frequency response function calculation unit 53 Notice. Next, as described above, the speed controller 32 outputs the command torque from the speed deviation that is the deviation between the measurement speed command and the detected speed. The current controller 33 operates the load device 4 based on the notified command torque.

Then, the frequency response function calculation unit 53 calculates the frequency response function of the measurement target G _{v_measure} from the measurement speed command notified from the measurement speed command generation unit 52 and the measured response speed (detection speed) of the load device 4. Calculate The measurement target G _{v_measure} is a block including the speed controller 32, the current controller 33, and the control target 6.

  Specifically, as shown below, first, the frequency characteristic calculation unit 22 performs frequency analysis (Fourier analysis of the measurement speed command and the measured response speed data (sampling interval Δt, time series arrangement of data points N) respectively) The frequency response function Gv_closed (complex number array) of the velocity closed loop is calculated by converting and taking the ratio.

Ωref [N]: Complex number array obtained by Fourier transforming velocity command for measurement Ωact [N]: Complex number array obtained by Fourier transforming response speed Gv_closed [N] = (Ωact [N]) / (Ωref [N])
f [N] = 0, 1 / (Δt · N), 2 / (Δt · N), 3 / (Δt · N),..., (N−1) / (Δt · N) f: frequency Next, As described below, the frequency response function P of the measurement target _{Gv_measure} is obtained by dividing the characteristic (Cv) of the speed controller 32 of the servo driver 2 at the time of measurement from the characteristic Gv_closed of the speed closed loop.

Gv_open [N] = (Gv_closed [N]) / (1-Gv_closed [N])
P [N] = (Gv_open [N]) / Cv [N]
_Thus , the frequency response function P of the measurement target G _{v —} measure is obtained.

[Calculation method-3]
Next, calculation method-3 will be described with reference to FIG. As shown in FIG. 7, in calculation method-3, first, the measurement position command generation unit 54 generates a measurement position command including many frequency components, and the position controller 31 and the frequency response function calculation unit 53 Notice. Next, the position controller 31 outputs the commanded velocity from the position deviation which is the deviation between the measurement position command and the detected position. The speed controller 32 outputs a command torque from a speed deviation which is a deviation between the command speed and the detected speed. The current controller 33 operates the load device 4 based on the notified command torque.

Then, the frequency response function calculation unit 53 determines from the measurement position command notified from the measurement position command generation unit 54 and the response position (detection position (position measurement value, measurement value)) in the measured load device 4 The frequency response function of the measurement object G _{p_measure} is calculated. The measurement object G _{p_measure} is a block including the position controller 31, the speed controller 32, the current controller 33, and the control object 6.

  Specifically, as shown below, first, the frequency characteristic calculation unit 22 performs frequency analysis (Fourier analysis of the measurement position command and the measured response position data (sampling interval Δt, time series array of data points N)) The frequency response function Gp_closed (complex number array) of the position closed loop is calculated by converting and taking the ratio.

Θref [N]: Complex number array obtained by Fourier transforming position command for measurement Θact [N]: Complex number array obtained by Fourier transforming response position Gp_closed [N] = (Θact [N]) / (Θref [N])
f [N] = 0, 1 / (Δt · N), 2 / (Δt · N), 3 / (Δt · N),..., (N−1) / (Δt · N) f: frequency Next, The characteristics of the position open loop Gp_open are determined from the characteristics Gp_closed of the position closed loop as follows.

Gp_open [N] = (Gp_closed [N]) / (1-Gp_closed [N])
Next, the characteristic Cp of the position controller 31 at the time of measurement is obtained from the value of the control parameter at the time of measurement.

  Then, the characteristic of the position controller 31 and the integral term (1 / s) are removed from the position open loop characteristic Gp_open to obtain the characteristic of the velocity closed loop.

Gv_closed [N] = (Gp_open [N]) / (Cp / s)
Next, as described below, the frequency response function P of the measurement object _{Gv_measure} is obtained by dividing the characteristic (Cv) of the speed controller 32 of the servo driver 2 at the time of measurement from the characteristic Gv_closed of the speed closed loop.

Gv_open [N] = (Gv_closed [N]) / (1-Gv_closed [N])
P [N] = (Gv_open [N]) / Cv [N]
_Thus , the frequency response function P of the measurement target G _{pv_measure} can be obtained.

  Thus, in the present embodiment, the frequency response function of the measurement target including the load device 4 is determined using the measurement result obtained by operating the load device 4. And since the simulation shown below is performed using this, a highly accurate simulation can be performed. In addition, since the characteristic (frequency response function) of the measurement target including the load device 4 can be obtained from the measurement result, the simulation is executed even if the user 5 does not have special knowledge for obtaining the characteristic of the load device 4 be able to.

[Details of processing in simulation unit 23]
Next, details of processing in the simulation unit 23 will be described with reference to FIG. FIG. 8 is a diagram for explaining the contents of simulation in the setting device 1 according to the present embodiment.

  As shown in FIG. 2, the simulation unit 23 includes a frequency transfer function setting unit 40, an impulse response calculation unit 41, a simulation system 42, a second command value generation unit 43, a time response output unit 44, and a frequency response output unit 45. Including.

  The frequency transfer function setting unit 40 generates a frequency transfer function for simulation, which is a frequency transfer function used for simulation based on the frequency response function calculated by the frequency response function calculation unit 53 or based on the frequency response function and control parameters for simulation. Set

  The impulse response calculation unit 41 calculates an impulse response of the simulation frequency transfer function set by the frequency transfer function setting unit 40.

  The simulation system 42 is a system including a model structure to be simulated. Details of the simulation system 42 will be described later.

  The second command value generation unit 43 generates a second command value that is a command value for simulation.

  The time response output unit 44 executes time response simulation, and outputs a time response which is a simulation result.

  The frequency response output unit 45 outputs a frequency response that is a simulation result.

[Basic structure of simulation system]
First, with reference to FIG. 8A, the basic structure (control block structure) of the simulation system will be described. As shown in FIG. 8A, the basic structure of the simulation system corresponds to the mechanical system 7, and a model position controller 31 ', a model speed controller 32', a model current controller 33 ', and a machine model unit 34. 'including.

  The model position controller 31 'corresponds to the position controller 31 of the servo driver 2, the model speed controller 32' corresponds to the speed controller 32 of the servo driver 2, and the model current controller 33 'is a servo driver. The machine model unit 34 ′ corresponds to the control target 6 corresponding to the current controller 33 of FIG.

  In the basic structure of the simulation system, similarly to the servo driver 2, the position command (Pcmd) is input to the model position controller 31 'to output the speed command (vcmd), and the speed command is output to the model speed controller 32'. The torque command (.tau.cmd) is input, and the torque command is input to the model current controller 33 ', and the current command (ccmd) is output. Then, the current command is input to the machine model unit 34 ', and the velocity (vsim) and the position (psim) are output as a simulation result.

[Simulation-0]
In simulation 0, as shown in FIG. 8 (b), the entire basic structure shown in FIG. 8 (a) (model position controller 31 ', model speed controller 32', model current controller 33 'and mechanical model The simulation is performed with the unit 34 ') as the object (first frequency transfer function) of the inverse Fourier transform. Specifically, it is as follows.

  First, the frequency response function P of the control target 6 including the load device 4 is obtained by the processing of the frequency characteristic calculation unit 22 described above. Next, the frequency transfer function Gv_open of the speed open loop and the frequency transfer function Gv_closed of the speed closed loop are determined by multiplying the frequency transfer function P of the control object 6 by the frequency transfer function (Cp, Cv) as the controller characteristics. . Here, the frequency transfer function (Cp, Cv) is represented by control parameters for simulation. That is, the frequency transfer function Cp is a frequency transfer function indicating the characteristics of the model position control unit 31 'of the simulation system, and the simulation position proportional gain Kpp_sim, which is a control parameter for simulation, is set. That is, the frequency transfer function Cp is a function that is a constant. The frequency transfer function Cv is a frequency transfer function that indicates the characteristics of the model speed control unit 32 'of the simulation system, and a simulation speed proportional gain Kvp_sim, which is a control parameter for simulation, is set. When the model speed control unit 32 'performs PI control, the model speed control unit 32' is represented by the simulation speed integral gain Kvi_sim in addition to the simulation speed proportional gain Kvp_sim. At this time, the frequency transfer function Cv is expressed as Kvp_sim × (1 + Kvi_sim / 2) (function of Laplace operator s). Further, the frequency transfer function Gp_open of the position open loop and the frequency transfer function Gp_closed of the position closed loop are determined.

Gv_open = Cv · P
Gv_closed = (Gv_open) / (1 + Gv_open)
Gp_open = Cp Gv_closed 1 / s (s is a transfer function variable)
Gp_closed = (Gp_open) / (1 + Gp_open)
Next, the frequency transfer function Gp_closed of the position closed loop is inverse Fourier transformed to obtain an impulse response gimp. This means the response of the position to the impulse command.

gimp = IFFT (Gp_closed)
Next, the position response (time series array psim) to the position command (time series array pcmd) is obtained by the following calculation. This means that convolution of the impulse response gimp is performed.

Repeat for the length you want to simulate from FOR m = 0 DO
Repeat for the length (N) of FOR n = 0 to gimp length DO
psim [m + n] = psim [m + n] + pcmd [m] · gimp [n]
END FOR
END FOR
By the above, it is possible to simulate by replacing the entire basic structure shown in FIG. 8A with the frequency transfer function.

  Thereby, the response (position response, time response) of the mechanical system 7 can be obtained by simulation while changing the control parameter, and the control parameter is changed, and the motor 3 is actually driven each time the load device 4 is There is no need to operate and confirm the response.

[Simulation-1]
In simulation-1, the following points are superior to simulation 0 described above.

  The frequency response function of the control target 6 including the load device 4 obtained from the detection result by the frequency characteristic calculation unit 22 does not sufficiently include low band information. Therefore, the time-series data obtained by performing the inverse Fourier transform using this calculation result will contain many errors in the low-frequency component. In particular, the DC component appears as a steady-state deviation, resulting in a clear error. Although it is possible to obtain a large amount of information in the low range by making the measurement time longer, usability deteriorates and it is not desirable in the use case.

  Further, in the simulation 0, the speed command vcmd does not appear, and it is impossible to simulate the configuration in which the speed feedforward is added to the speed command vcmd.

  Therefore, in simulation 1, the response position is fed back to calculate the positional deviation between the command position and the response position, and using this, the impulse response obtained by inverse Fourier transform of the frequency transfer function is convoluted to obtain the response speed. The simulation is executed by calculating and integrating the calculated response speed to calculate the response position. As a result, since the position deviation is calculated by feeding back the response position, the error of the low-pass component is corrected, and the simulation with high accuracy can be performed.

  A more detailed description will be given with reference to FIG. 8 (c). FIG. 8C is a diagram for explaining the contents of simulation-1. As shown in FIG. 8C, in simulation 1, the model speed controller 32 ', the model current controller 33' and the mechanical model unit 34 'of the basic structure of the simulation system are subjected to inverse Fourier transform. Perform a simulation. Then, the model position controller 31 ′ calculates the speed command vcmd from the position deviation between the position command pcmd and the response position psim corresponding to the position command pcmd, and uses the second frequency transfer function from the calculated speed command vcmd. The response speed vsim is calculated, and the response position psim is calculated from the calculated response speed vsim. Here, the calculated speed command vcmd corresponds to the output value output when the position command pcmd (second command value) is input to the simulation system.

  Specifically, it is calculated as follows. The characteristic of the model speed controller 32 'after input of the parameter to be simulated is Cv.

  First, the frequency transfer function setting unit 40 multiplies Cv by the frequency response function P of the control target 6 including the load device 4 calculated by the frequency characteristic calculation unit 22 to obtain the frequency transfer function Gv_open of the speed open loop and the speed The closed loop frequency transfer function Gv_closed is determined.

Gv_open [N] = Cv [N] · P [N]
Gv_closed [N] = (Gv_open [N]) / (1 + Gv_open [N])
Next, the impulse response calculation unit 41 performs inverse Fourier transform on the frequency transfer function Gv_closed of the velocity closed loop as follows to obtain an impulse response gimp. This means the response of the velocity to the impulse command of the velocity.

gimp [N] = IFFT (Gv_closed [N])
Next, the simulation unit 23 obtains a position response (time series array psim) and a velocity response (time series array vsim) with respect to the position command (time series array pcmd) by the following calculation. This means that the impulse response gimp is convoluted. The vcmd is output from the model position controller 31 '.

Repeat for the length you want to simulate from FOR m = 0 DO
perr = pcmd [m]-psim [m-1] ... Calculate the position deviation perr vcmd = Kpp · perr
Repeat by the number of minutes (N) of FOR n = 0 to gv_imp length DO
vsim [m + n] = vcmd · gimp [n] ... convolution ENDFOR
psim [m] = psim [m-1] + vsim [m] · Δt ... calculate the position by integrating the velocity ENDFOR
Here, Kpp is a position proportional gain (control parameter), and Δt is a sampling interval at the time of frequency response measurement.

  As described above, in simulation 1, of the basic structure shown in FIG. 8A, the model speed controller 32 ′, the model current controller 33 ′, and the mechanical model unit 34 ′ are targets of inverse Fourier transformation, The simulation is performed using the position deviation.

  Then, by using the position deviation, it is possible to reduce the error of the low-pass component included in the frequency response function of the control target 6 including the load device 4, so that it is more accurate than in simulation-0. Simulation can be performed.

  Further, the frequency response of the velocity open loop or the velocity closed loop can be simulated by outputting the frequency transfer function of the velocity open loop (Gv_open) and the frequency transfer function of the velocity closed loop (Gv_closed) as it is as a Bode diagram.

[Modification]
When the simulation is repeated without changing the parameters of the model speed controller 32 ', the speed closed loop characteristic (frequency transfer function) Gv_closed becomes constant. Therefore, the characteristic (frequency transfer function) Gv_closed of the velocity closed loop is determined by the calculation method-2 described above, and the simulation is performed by determining gimp using the determined characteristic (frequency transfer function) Gv_closed of the velocity closed loop. This is useful, for example, when changing only the parameters of the position controller 31, or changing only the position command.

[Flow of processing for setting control parameters in setting device 1]
Next, with reference to FIG. 4, a flow of processing of adjusting (setting) control parameters in the setting device 1 will be described. FIG. 4 is a flowchart showing the flow of processing in the setting device 1.

  As shown in FIG. 4, in the control parameter adjustment process, the initialization is performed in the initialization step as a large flow (S1), the frequency response function is calculated in the frequency response function calculation step (S2), and time response simulation execution is performed. The time response simulation is executed in the step (S3), and the response of the actual device is confirmed in the actual device response confirmation step (S4).

  In the initial setting step of step S1, the parameter setting unit 21 sets control parameters for frequency response measurement in the servo driver 2 (S1-1).

  In the frequency response function calculation step of step S2, first, at least one of the measurement torque command generation unit 51, the measurement speed command generation unit 52, and the measurement position command generation unit 54 of the frequency characteristic calculation unit 22 measures the frequency response. Command value (first command value) is generated (S2-1).

  Next, the frequency characteristic calculation unit 22 measures the frequency response via the acquisition unit 25 (S2-2).

  Next, the frequency characteristic calculation unit 22 calculates the frequency response function of the measurement target including the characteristics of the control target 6 (S2-3).

  In the time response simulation execution step of step S3, first, the parameter setting unit 21 sets control parameters for simulation (S3-1).

  Next, the frequency transfer function setting unit 40 performs frequency transfer for simulation on the frequency transfer function calculated on the basis of the frequency response function calculated in step S2-3 or the frequency response function and the control parameter for simulation. It sets as a function (S3-2).

  Next, the impulse response calculation unit 41 calculates an impulse response of the simulation frequency transfer function set in step S3-2 (S3-3).

  Next, the second command value generation unit 43 generates a command value (second command value) for simulation (S3-4).

  Next, the time response output unit 44 executes a time response simulation using the second command value generated in step S3-4 and the impulse response calculated in step S3-3, and outputs the result (S3- 5).

  Further, the frequency response output unit 45 outputs at least one of gain response characteristics and phase response characteristics as frequency response characteristics using the simulation frequency transfer function generated in S3-1 (S3- X).

  The simulation frequency transfer function generated in step S3-1 may be different for use in time response simulation and for use in calculation of frequency response characteristics.

  Also, the step of executing the time response simulation (S3-5) and the step of outputting the frequency response characteristic (S3-X) may be performed simultaneously, and the step of outputting the frequency response characteristic is often performed by simulation. It may be performed prior to the execution step.

  The execution result of the simulation and the frequency response characteristic are displayed on the display unit 12 by the display control unit 26, for example, as shown in FIGS. 9 and 10 (S3-6).

  Then, if the output result of the time response simulation is good (YES in S3-7), the process proceeds to step S4, and if not good (NO in S3-7), the process returns to step S3-1, and the process returns repeat.

  In the real machine response confirmation step of step S4, first, the control parameter when the response state is determined to be good in step S3-6 is set in the servo driver 2 (S4-1).

  Next, the mechanical system 7 is operated with the set control parameter, and the response is measured (S4-2).

  Then, if the measured response is good (YES in S4-3), the adjustment of the control parameter is ended. On the other hand, if the measured response is not good (NO in S4-3), the process returns to step S2-2.

  As described above, in this embodiment, in order to adjust the control parameters (position gain, speed gain, filter cutoff frequency, etc.) of the servo driver 2, the time response of speed control or position control is simulated to be used by the user. Can be shown. Thereby, the user 5 can confirm the time response when using the set control parameter at any time by simulation, and can perform adjustment in a short time safely without actually operating the load device 4 repeatedly. .

  In addition, in the setting process of the control parameter mentioned above, although four steps of initial response step S1, frequency response function calculation step S2, time response simulation execution step S3, and real machine response confirmation step S4 are provided, real machine response confirmation step S4 The setting process of the control parameter is possible without performing. That is, since the simulation that accurately reflects the characteristics of the control target 6 is possible by the simulation using the result of measuring the frequency response of the motor 3 and the load device 4, the control is performed without executing the actual machine response confirmation step S4. You may complete parameter settings.

[Details of Display Control Unit 26]
Next, details of the display control unit 26 will be described with reference to FIGS. FIGS. 9 and 10 are diagrams showing display examples displayed on the display unit 12 by the display control unit 26. FIG. Specifically, FIG. 9 (a) is a diagram showing the gain characteristic of the frequency transfer function, and FIG. 9 (b) is a diagram showing the phase characteristic of the frequency transfer function. Moreover, FIG. 10 is a figure which shows time response (position or speed).

  The display control unit 26 calculates the velocity open loop characteristic (frequency characteristic) Gv_open, the velocity closed loop characteristic (frequency characteristic) Gv_closed, the position open loop characteristic (frequency characteristic) Gp_open, the position closed loop characteristic (frequency calculated by the simulation by the simulation unit 23) Characteristic) Gp_closed is used to generate a Bode diagram (at least one of a gain characteristic (gain response characteristic) and a phase characteristic (phase response characteristic)). Also, a simulation diagram showing simulation results of time response (position and velocity) by the simulation unit 23 is generated. Then, the display control unit 26 simultaneously or selectively displays the generated Bode diagram and simulation diagram on the display unit 12.

The Bode diagram of the gain characteristic can be generated by setting the horizontal axis to frequency f [N] and the vertical axis to 20 · log ₁₀ | G [N] |.

  Further, a Bode diagram of the phase characteristics can be generated by setting the horizontal axis as frequency f [N] and the vertical axis as arg (G [N]).

  The simulation diagram is a diagram in which the horizontal axis is time (t) and the vertical axis is position (p) or velocity (v). In the example shown in FIG. 10, the horizontal axis is a graph of time (t) and the vertical axis is a graph of position (p) or velocity (v), and the command (position command, speed command) and response result by simulation are superimposed and plotted Has been displayed.

  As a result, a board diagram using the velocity open loop characteristic Gv_open, velocity closed loop characteristic Gv_closed, position open loop characteristic Gp_open, and position closed loop characteristic Gp_closed is displayed. Adjustment of control parameters (speed proportional gain, speed integral gain, position proportional gain, etc.) of the controller 32 can be easily and appropriately performed.

Furthermore, displaying the simulation diagram of the time response allows the user to easily recognize the response result of the mechanical system 7 including the load device 4.
Second Embodiment
[Simulation-2]
Another embodiment of the present invention is described below with reference to FIG. In addition, about the member which has the same function as the member demonstrated in the said embodiment for convenience of explanation, the same code | symbol is appended and the description is abbreviate | omitted.

  As shown in FIG. 8D, in the present embodiment, in the basic structure of simulation, the model current controller 33 'and the mechanical model unit 34' are combined into one simulation frequency transfer function (third frequency transfer function). Replace and run simulation.

  That is, in simulation-2, the response position is fed back to the model position controller 31 'by the model position feedback loop 31b' to calculate the position deviation between the position command (pcmd) and the model response position (pism), and Using this, the model position controller 31 'generates a speed command (vcmd). Then, the model speed controller 32 'generates a torque command (.tau.cmd) from the speed deviation between the speed command and the model speed response (vsim) fed back by the model speed feedback loop 32b'. Then, the response speed is calculated from the torque command and the third frequency transfer function, and the calculated response speed is integrated to calculate the response position, thereby executing the simulation. As a result, the response speed and the response position are fed back to calculate the speed deviation and the position deviation. Therefore, the error of the low-pass component is corrected, and a highly accurate simulation can be performed.

  A system including the model speed controller 32 ', the third frequency transfer function P (35c'), and the model speed feedback loop 32b 'is referred to as a model speed feedback system (model feedback system) 32a'. A system including a model velocity feedback system 32a ', a model velocity controller 32', and a model position feedback loop 31b 'is referred to as a model position feedback system (model feedback system) 31a'.

  Specifically, the simulation execution method is as follows. The simulation unit 23 inverse Fourier transforms the frequency transfer function P as follows to obtain an impulse response gimp. This means the response of the velocity to the impulse command of the torque.

gimp [N] = IFFT (P [N])
Next, the simulation unit 23 obtains a position response (time series array psim) and a velocity response (time series array sim) with respect to the position command (time series array pcmd) by the following calculation. This means that the impulse response gimp is convoluted. Note that vcmd is output from the model position controller 31 ′, and τcmd is output from the model speed controller 32 ′.

Repeat for the length you want to simulate from FOR m = 0 DO
perr = pcmd [m]-psim [m-1] ... Calculate the position deviation perr vcmd = Kpp · perr
verr = vcmd-vsim [m-1] ... Calculate the velocity deviation verr τcmd = Kvp · verr
Repeat by the number of minutes (N) of FOR n = 0 to gv_imp length DO
vsim [m + n] = τcmd · gimp [n] ... convolution ENDFOR
psim [m] = psim [m-1] + vsim [m] · Δt ... calculate the position by integrating the velocity ENDFOR
Here, as in the first embodiment, Kpp is a position proportional gain (control parameter), Δt is a sampling interval at the time of frequency response measurement, and Kvp is a speed proportional gain (control parameter).

  As described above, in the present embodiment, among the basic structures of the simulation system, the frequency transfer function (P) of the model current controller 33 'and the mechanical model unit 34' is subjected to inverse Fourier transform, and position deviation and velocity are obtained. The simulation is performed using the deviation.

  Then, by using the position deviation and the velocity deviation, the error of the low-pass component included in the frequency transfer function P can be reduced, so that a more accurate simulation can be performed as compared to the simulation 0. Can.

  Furthermore, even when compared with simulation-1, the following effects can be obtained. It is possible to execute a simulation including a configuration including torque feedforward (in which a torque command plus a feedforward added to the model current controller 33 'is used as an input). In the simulation 1, the torque command τ cmd does not appear, and the torque feed forward can not be added to the torque command τ cmd. The configuration of the feed forward will be described below as a third embodiment.

  In addition, when performing a simulation in which only control parameters of the model position controller 31 ′ and the model speed controller 32 ′ are changed without changing the control parameters of the model current controller 33 ′, P (model current control Since the frequency transfer function of the system including the unit 33 'and the machine model unit 34' does not change, the amount of processing can be reduced. This is because there is no need to recalculate the inverse Fourier transform which is computationally intensive.

[Example of software implementation]
Control block of setting device 1 (especially control unit 10 (parameter setting unit 21, frequency characteristic calculation unit 22 (measurement torque command generation unit 51, measurement speed instruction generation unit 52, frequency response function calculation unit 53, measurement position instruction Generation unit 54)), simulation unit 23 (frequency transfer function setting unit 40, impulse response calculation unit 41, simulation system 42, second command value generation unit 43, time response output unit 44, frequency response output unit 45), operation instruction The unit 24, the acquisition unit 25, and the display control unit 26) may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or software using a CPU (central processing unit) It may be realized by

  In the latter case, the setting device 1 is a CPU that executes instructions of a program that is software that implements each function, a ROM (Read Only Memory) in which the program and various data are recorded readable by a computer (or CPU) or A storage device (these are called "recording media"), a RAM (Random Access Memory) for developing the program, and the like are provided. Then, the object of the present invention is achieved by the computer (or CPU) reading and executing the program from the recording medium. As the recording medium, a “non-transitory tangible medium”, for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, etc. can be used. Further, the program may be supplied to the computer via any transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. The present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1 Setting device (simulation device)
2 servo driver 3 motor 4 load device 5 user 6 control target 7 mechanical system 10 control unit 11 operation reception unit 12 display unit 21 parameter setting unit 22 frequency characteristic calculation unit 23 simulation unit 24 operation instruction unit 25 acquisition unit 26 display control unit 31 Position Controller 31 'Model Position Controller 31b' Model Position Feedback Loop 32 Speed Controller 32 'Model Speed Controller 32a' Model Speed Feedback System 32b 'Model Speed Feedback Loop 33 Current Controller 33' Model Current Controller 34 'Machine Model unit 40 Frequency transfer function setting unit 41 Impulse response calculation unit 42 Simulation system 43 Second command value generation unit 44 Time response output unit 45 Frequency response output unit 51 Measurement torque command generation unit 52 Measurement speed command generation unit 53 Frequency response Function calculation unit 54 Measurement position commander Part 100 control system

Claims (10)

A simulation apparatus that simulates a mechanical system having a control target including a motor and a motor control device that controls the motor,
A frequency response function including characteristics of the controlled object based on a relationship between a first command value for driving the mechanical system and a measured value of the response of the mechanical system driven by the first command value. A frequency response function calculation unit to be calculated;
A simulation system having a control block structure corresponding to the mechanical system;
A parameter setting unit configured to set control parameters for changing the characteristics of the simulation system;
A frequency transfer function setting unit configured to set a frequency transfer function calculated based on the frequency response function or the frequency response function and the control parameter as a frequency transfer function for simulation;
A second command value generation unit that generates a second command value for simulation;
A time response output unit that executes a time response simulation of the mechanical system with respect to the second command value based on the second command value and the simulation frequency transfer function;
A frequency response output unit that outputs frequency response characteristics of the mechanical system based on the simulation frequency transfer function;
A display control unit which causes the display unit to simultaneously or selectively display the result of the time response simulation and the frequency response characteristic;
An impulse response calculation unit that calculates an impulse response by performing inverse Fourier transform on the simulation frequency transfer function,
The simulation apparatus characterized in that the time response output unit executes the time response simulation based on the second command value and the impulse response .   The simulation apparatus according to claim 1, wherein the time response output unit outputs a result of time response simulation of at least one of position, velocity, and torque of the mechanical system as a result of the time response simulation. .   The simulation apparatus according to claim 1, wherein the frequency response output unit outputs at least one of a gain response characteristic to the second command value and a phase response characteristic as the frequency response characteristic. The mechanical system has, as a control block structure, a position feedback system including a position controller, and a velocity feedback system including a velocity controller disposed downstream of the position controller.
The simulation system has a model position feedback system corresponding to the position feedback system, and a model velocity feedback system corresponding to the velocity feedback system.
The frequency response output unit outputs at least one of a frequency open loop characteristic, a velocity closed loop characteristic, a position open loop characteristic, and a position closed loop characteristic as the frequency response characteristic. The simulation device according to any one of to 3. The first command value is a torque command value indicating torque,
The frequency response function calculation unit is characterized in that the frequency response function is calculated based on a relationship between the torque command value and a speed measurement value which is a response of the mechanical system driven by the torque command value. The simulation apparatus according to any one of claims 1 to 4, wherein the simulation is performed. The first command value is a speed command value indicating a speed,
The frequency response function calculation unit is characterized in that the frequency response function is calculated based on a relationship between the speed command value and a speed measurement value which is a response of the mechanical system driven by the speed command value. The simulation apparatus according to any one of claims 1 to 4, wherein the simulation is performed. The first command value is a position command value indicating a position,
The frequency response function calculation unit is characterized in that the frequency response function is calculated based on a relationship between the position command value and a position measurement value which is a response of the mechanical system driven by the position command value. The simulation apparatus according to any one of claims 1 to 4, wherein the simulation is performed. A simulation method for simulating a mechanical system having a control target including a motor and a motor control device for controlling the motor,
A frequency response function including characteristics of the controlled object based on a relationship between a first command value for driving the mechanical system and a measured value of the response of the mechanical system driven by the first command value. Calculating a frequency response function calculation step;
A parameter setting step of setting control parameters for changing characteristics of a simulation system having a control block structure corresponding to the mechanical system;
A frequency transfer function setting step of setting a frequency transfer function calculated based on the frequency response function or the frequency response function and the control parameter as a frequency transfer function for simulation;
A second command value generation step of generating a second command value for simulation;
A time response output step of executing a time response simulation of the mechanical system for the second command value based on the second command value and the simulation frequency transfer function;
A frequency response output step of outputting frequency response characteristics of the mechanical system using the simulation frequency transfer function;
A display control step of causing the display unit to simultaneously or selectively display the result of the time response simulation and the frequency response characteristic,
The method further includes an impulse response calculation step of calculating an impulse response by performing inverse Fourier transform on the simulation frequency transfer function,
The time response output step executes the time response simulation on the basis of the second command value and the impulse response .   A control program for causing a computer to function as the simulation device according to claim 1. The computer-readable recording medium which recorded the control program of Claim 9 .

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